CN103114867B - Automatic straightening method and system for hydraulic supports and scraper conveyors of fully-mechanized coal mining working faces - Google Patents
Automatic straightening method and system for hydraulic supports and scraper conveyors of fully-mechanized coal mining working faces Download PDFInfo
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Abstract
The invention provides automatic straightening method and system for hydraulic supports and scraper conveyors of fully-mechanized coal mining working faces. The automatic straightening method includes steps of during continuous propelling of the fully-mechanized coal mining working faces, acquiring relative positions between every two hydraulic supports by first travel sensors mounted on the hydraulic supports; acquiring a relative position between each hydraulic support and one scraper conveyor; utilizing the appointed hydraulic support as reference, and straightening the hydraulic supports within an appointed range according to the relative positions between every two hydraulic supports until readings of the first travel sensors are zero; and utilizing the relative position of the appointed hydraulic support and the scraper conveyor as reference, and straightening the scraper conveyors within an appointed range according to the relative position between each hydraulic support and each scraper conveyor. By the automatic straightening method and system, the scraper conveyors and the hydraulic supports can be guaranteed to arrange orderly, and 'keeping the hydraulic supports, the scraper conveyors and cut coal walls straight and flat' of the fully-mechanized coal mining working faces is guaranteed.
Description
Technical field
The present invention relates at underground coal mine fully-mechanized mining working coal mining process control field, particularly relate to a kind of fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment method and a kind of fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment system.
Background technology
Coal mine fully-mechanized mining working " three straight one flat " realizes the effective means that fully-mechanized mining working produces normally and efficiently, especially during the geological structure such as Coal Face Passing Through Fault or fold, working face equipment is difficult to adapt to geological conditions, must ensure that hydraulic support, the rib cut and drag conveyor keep point-blank, take effective control measure, reduce equipment failure rate, improve working surface production efficiency.
In early days in order to ensure work plane " three straight one flat ", work plane often carries out bracing wire management.Namely make object of reference at work plane suspension lighting light fixture, by manually judging, when the not straight phenomenon in local appears in work plane, being moved frame by personnel's manual operation or being moved and slipping, adjusting pole distance each other.
After electrohydraulic control system maturation is applied to fully-mechanized mining working, industry proposes to rely on and is arranged on hydraulic support and passes stroke sensor in oil cylinder as judgment basis and carried out the method for straightening by the action of electrohydraulic control system hydraulic control support.But, this method can only reflect the relative position between each hydraulic support and drag conveyor, the i.e. reliable reference point of neither one, when drag conveyor itself is bending, even if the reading of the stroke sensor of each hydraulic support is consistent, the state having reached a kind of straightening also cannot be shown.
Summary of the invention
Based on this, the invention provides a kind of fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment method and system, scratch board conveyor, hydraulic support marshalling can be guaranteed.
For achieving the above object, the present invention adopts following technical scheme:
A kind of fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment method, comprise the following steps:
In the process that fully-mechanized mining working advances continuously, the relative position between every two hydraulic supports is obtained by the first stroke sensor be arranged on each hydraulic support, wherein, the relative position between every two hydraulic supports is obtained by the sensor body of described first stroke sensor, permanent magnet; Be specially: described sensor body, permanent magnet are arranged on respectively on the wall supporting of side, each hydraulic support both sides, the permanent magnet being arranged on next hydraulic support is changed into continually varying analog quantity relative to the position of self by the sensor body being arranged on each hydraulic support, realizes the measurement of relative position;
Obtain the relative position between each hydraulic support and drag conveyor;
To specify hydraulic support for benchmark, carry out the hydraulic support in straightening specified scope according to the relative position between described every two hydraulic supports, until the reading of described first stroke sensor is all zero;
With the relative position of described appointment hydraulic support and drag conveyor for reference, carry out the drag conveyor in straightening specified scope according to the relative position between described each hydraulic support and drag conveyor.
A kind of fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment system, comprising:
Primary importance acquisition module, for in the process that advances continuously at fully-mechanized mining working, obtain the relative position between every two hydraulic supports by the first stroke sensor be arranged on each hydraulic support, wherein, described first stroke sensor comprises: sensor body, permanent magnet; Described sensor body and permanent magnet are arranged on the wall supporting of side, hydraulic support both sides respectively; When multiple hydraulic support accommodated side-by-side, the permanent magnet being arranged on next hydraulic support is changed into continually varying analog quantity relative to the position of self by the sensor body being arranged on each hydraulic support, realizes the measurement of relative position;
Second place acquisition module, for obtaining the relative position between each hydraulic support and drag conveyor;
First straightening module, for specify hydraulic support for benchmark, carrys out the hydraulic support in straightening specified scope, until the reading of described first stroke sensor is all zero according to the relative position between described every two hydraulic supports;
Second straightening module, for the relative position of described appointment hydraulic support and drag conveyor for reference, carry out the drag conveyor in straightening specified scope according to the relative position between described each hydraulic support and drag conveyor.
As can be seen from above scheme, fully-mechanized mining working surface hydraulic support of the present invention and drag conveyor automatic alignment method and system, relative position between every two hydraulic supports is obtained by installing stroke sensor on hydraulic support, and in conjunction with the relative position between each hydraulic support and drag conveyor, in automatic adjustment specified scope hydraulic support with certain hydraulic support of wherein specifying for benchmark is in alignment, and automatically adjust this specified scope inside strake conveyer with the relative position of this appointment hydraulic support and drag conveyor for reference in alignment.As long as the proper automatic alignment that just can carry out hydraulic support and drag conveyor of relative parameters setting in the present invention, without the need to manual intervention, ensure that scratch board conveyor, hydraulic support marshalling, avoid the damage causing equipment because drag conveyor flexibility is excessive, ensure that " three straight one flat " of fully-mechanized mining working.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of a kind of fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment method in the embodiment of the present invention;
Fig. 2 is the view of hydraulic support and drag conveyor before automatic alignment in the embodiment of the present invention;
Fig. 3 is the view of hydraulic support and drag conveyor after straightening support in the embodiment of the present invention;
Fig. 4 is in the embodiment of the present invention after an automatic alignment, the view of hydraulic support and scratch board conveyor;
Fig. 5 is the structural representation of a kind of fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment system in the embodiment of the present invention.
Detailed description of the invention
Shown in Figure 1, a kind of fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment method, comprise the following steps:
Step S101, in the process that fully-mechanized mining working advances continuously, obtains the relative position between every two hydraulic supports by the first stroke sensor be arranged on each hydraulic support.
The present invention has installed the stroke sensor for reflecting relative position between hydraulic support on each hydraulic support, by the signal detection of electrohydraulic control system to above-mentioned stroke sensor, can obtain the relative position between every two hydraulic supports.As a good embodiment, the process of the described relative position obtained between every two hydraulic supports by the first stroke sensor be arranged on each hydraulic support specifically can comprise as follows: obtain the relative position between every two hydraulic supports by the sensor body of described first stroke sensor, permanent magnet.Be specially: the sensor body of described first stroke sensor, permanent magnet are arranged on the wall supporting of side, each hydraulic support both sides respectively, the sensor body being now arranged on each hydraulic support and the permanent magnet being arranged on next hydraulic support can form a set of stroke sensor, and the permanent magnet being arranged on next hydraulic support can be changed into continually varying analog quantity relative to the position of self by this sensor body being arranged on each hydraulic support, thus realizes the measurement of relative position.
It should be noted that, electrohydraulic control system involved in the embodiment of the present invention is that one can obtain fully-mechanized mining working all the sensors information, and controls the microcomputer network system that fully-mechanized mining working all hydraulic support carries out action.
Step S102, obtains the relative position between each hydraulic support and drag conveyor, enters step S103 thereafter.
As a good embodiment, the process obtaining the relative position between each hydraulic support and drag conveyor in this step specifically can comprise as follows: in the passing oil cylinder of each hydraulic support, install the second stroke sensor, obtains the relative position between each hydraulic support and drag conveyor according to described second stroke sensor.Namely two cover stroke sensors are installed altogether on each hydraulic support: the first stroke sensor and the second stroke sensor in the embodiment of the present invention.The reading of the first stroke sensor can reflect the relative position between two hydraulic supports, second stroke sensor then all (comprising sensor body, permanent magnet) be arranged in the passing oil cylinder of hydraulic support, reflect the relative position between hydraulic support and drag conveyor by the stroke value of passing oil cylinder.
Step S103, in the embodiment of the present invention, the basic skills of basis " first adjust support, then adjust scraper plate " is to carry out automatic alignment.Therefore in this step, to specify hydraulic support for benchmark, the hydraulic support in straightening specified scope is carried out according to the relative position between described every two hydraulic supports, until the reading of described first stroke sensor is all zero (namely the straightening having achieved hydraulic support is described), and enter step S104.
Step S104, with the relative position of described appointment hydraulic support and drag conveyor for reference, carrys out the drag conveyor in straightening specified scope according to the relative position between described each hydraulic support and drag conveyor.
As a good embodiment, determining when to stop in the straightening of drag conveyor, can in the following way: when all first stroke sensor readings are all zero, and the reading of all second stroke sensors whole equal time, the straightening terminating the relative position of hydraulic support and drag conveyor operates.Namely the marshalling of whole scratch board conveyor, hydraulic support is achieved after drag conveyor straightening.
Visible, a kind of fully-mechanized mining working surface hydraulic support of the embodiment of the present invention and drag conveyor automatic alignment method, its main thought be specify carry out straightening hydraulic support in certain hydraulic support of specifying be benchmark, control other hydraulic support actions within the scope of straightening, the stroke sensor reading being arranged on wall supporting both sides, side adjusted on the hydraulic support within the scope of each straightening is all zero, thus realizes the straightening of hydraulic support; Again with the relative position of this appointment support and drag conveyor for reference, control other hydraulic support actions within the scope of straightening, the stroke sensor reading being arranged in passing oil cylinder adjusted on the hydraulic support within the scope of each straightening is all consistent, thus realizes the straightening of drag conveyor.Be described below by a concrete example:
To suppose in the present embodiment the hydraulic support of continuous m with K hydraulic support for benchmark carries out automatic alignment (wherein parameter m and K and the hydraulic support number n that adjusts drag conveyor can do different settings according to user's request in electrohydraulic control system) simultaneously, then to realize the process of an automatic alignment as follows in the present invention:
(1), the original state before carrying out automatic alignment is supposed as shown in Figure 2, comprise rib 210, drag conveyor 220 and hydraulic support 230, this figure acceptance of the bid shows the supposition of each relevant parameter in an automatic alignment, and sequential combination during straightening support.Wherein, d1 is the relative position between hydraulic support 230 and scratch board conveyor 220, and d2 is the relative position between hydraulic support 230.With K frame for benchmark, electrohydraulic control system detects the relative position between K-1 frame and K frame, between K+1 frame and K frame by the stroke sensor being arranged on wall supporting both sides, side, if be ahead of K frame on advance of the face direction, definition relative position is just, otherwise lag behind K frame, definition relative position is negative;
(2), electrohydraulic control system controls to control K-1 frame and K+1 frame carries out action according to detected relative position simultaneously, if relative position is just, then carry out falling pushing and sliding after frame, the relative position with K frame is constantly detected, until stop pushing and sliding and setting prop when phase position is zero in process; If relative position is negative, then try to stop people from fighting each other after carrying out falling frame, in process, constantly detect the relative position with K frame, until stop when phase position is zero trying to stop people from fighting each other and setting prop;
(3), electrohydraulic control system uses (1), the method described in (2) adjusts K-2 frame simultaneously and K+2 frame (if existence), during unlike adjustment K-2 frame, be the relative position between K-2 frame and K-1 frame with reference to information; When adjusting K+2 frame, be the relative position between K+2 frame and K+1 frame with reference to information.By that analogy, according to K-3 frame and K+3 frame, K-4 frame and K+4 frame ... order and be combined into Row sum-equal matrix, reference information during adjustment is the relative position in this group and upper group between homonymy hydraulic support 230, until all m-1 hydraulic support 230 all adjusts complete, now all m hydraulic support 230 is in straight line, as shown in Figure 3, sequential combination during straightening drag conveyor 220 has been indicated in this figure equally;
(4), electrohydraulic control system analysis [K-n, K-1] and [K+1, K+n] relative position of hydraulic support 230 in scope and drag conveyor 220, namely it is arranged on the reading of the stroke sensor passing oil cylinder, and compares with the passing oil cylinder stroke sensor reading of K frame.Then control difference in 2n hydraulic support 230 within the scope of this is that the positive setting prop that carries out is tried to stop people from fighting each other simultaneously, and difference is negative setting prop pushing and sliding, until this difference is all zero or overtime;
(5), electrohydraulic control system analysis [K-3n/2, K-n/2-1] and [K+n/2+1, K+3n/2] hydraulic support 230 (if existence) in scope and the relative position of drag conveyor 220 go forward side by side Row sum-equal matrix, and method of adjustment is identical with (4) middle method described.By that analogy, according to [K-2n, K-n-1] and [K+n+1, K+2n], [K-5n/2, K-3n/2-1] and [K+3n/2+1, K+5n/2] ... order and be combined into Row sum-equal matrix, scope is successively decreased to both sides at every turn or is increased progressively n/2, until all m-1 hydraulic support 230 adjusts complete.Now drag conveyor 220 is in straight line, as shown in Figure 4.So far an automatic alignment process terminates.
In summary, as long as the support scope of automatic alignment, benchmark frame number and to adjust scraper stent number three optimum configurations proper simultaneously, just by the algorithm of sensor feedback and electrohydraulic control system, the hydraulic support 230 without the need to manual intervention and drag conveyor 220 automatic alignment is realized.
It should be noted that, in the embodiment of the present invention, the startup of automatic alignment by starting electrohydraulic control system manual operation, also can start to electrohydraulic control system by sending specific order.
Corresponding with above-mentioned a kind of fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment method, the present invention also provides a kind of fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment system, as shown in Figure 5, comprising:
Primary importance acquisition module 101, in the process that advances continuously at fully-mechanized mining working, obtains the relative position between every two hydraulic supports by the first stroke sensor be arranged on each hydraulic support;
Second place acquisition module 102, for obtaining the relative position between each hydraulic support and drag conveyor;
First straightening module 103, for specify hydraulic support for benchmark, carrys out the hydraulic support in straightening specified scope, until the reading of described first stroke sensor is all zero according to the relative position between described every two hydraulic supports;
Second straightening module 104, for the relative position of described appointment hydraulic support and drag conveyor for reference, carry out the drag conveyor in straightening specified scope according to the relative position between described each hydraulic support and drag conveyor.
As a good embodiment, can comprise in described first stroke sensor: sensor body, permanent magnet; Described sensor body and permanent magnet are arranged on the wall supporting of side, hydraulic support both sides respectively; When multiple hydraulic support accommodated side-by-side, the permanent magnet being arranged on next hydraulic support is changed into continually varying analog quantity relative to the position of self by the sensor body being arranged on each hydraulic support, thus realizes the measurement of relative position (referring to the relative position between every two hydraulic supports herein).
In addition, as a good embodiment, described second place acquisition module can obtain the relative position between each hydraulic support and drag conveyor by the second stroke sensor installed in the passing oil cylinder of each hydraulic support.
As a good embodiment, can also comprise in described fully-mechanized mining working surface hydraulic support and drag conveyor automatic alignment system:
Operation terminates module, for being all zero at all first stroke sensor readings, and the reading of all second stroke sensors whole equal time, the straightening terminating the relative position of hydraulic support and drag conveyor operates.
Visible, two cover stroke sensors are installed altogether on each hydraulic support: the first stroke sensor and the second stroke sensor in the embodiment of the present invention.The reading of the first stroke sensor can reflect the relative position between two hydraulic supports, second stroke sensor then all (comprising sensor body, permanent magnet) be arranged in the passing oil cylinder of hydraulic support, reflect the relative position between hydraulic support and drag conveyor by the stroke value of passing oil cylinder.
Above-mentioned a kind of fully-mechanized mining working surface hydraulic support is identical with drag conveyor automatic alignment method with a kind of fully-mechanized mining working surface hydraulic support of the present invention with the other technologies feature of drag conveyor automatic alignment system, and it will not go into details herein.
Can be found out by above scheme, fully-mechanized mining working surface hydraulic support of the present invention and drag conveyor automatic alignment method and system, relative position between every two hydraulic supports is obtained by installing stroke sensor on hydraulic support, and in conjunction with the relative position between each hydraulic support and drag conveyor, in automatic adjustment specified scope hydraulic support with certain hydraulic support of wherein specifying for benchmark is in alignment, and automatically adjust this specified scope inside strake conveyer with the relative position of this appointment hydraulic support and drag conveyor for reference in alignment.As long as the proper automatic alignment that just can carry out hydraulic support and drag conveyor of relative parameters setting in the present invention, without the need to manual intervention, ensure that scratch board conveyor, hydraulic support marshalling, avoid the damage causing equipment because drag conveyor flexibility is excessive, ensure that " three straight one flat " of fully-mechanized mining working.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (6)
1. fully-mechanized mining working surface hydraulic support and a drag conveyor automatic alignment method, is characterized in that, comprise the following steps:
In the process that fully-mechanized mining working advances continuously, the relative position between every two hydraulic supports is obtained by the first stroke sensor be arranged on each hydraulic support, wherein, the relative position between every two hydraulic supports is obtained by the sensor body of described first stroke sensor, permanent magnet; Be specially: described sensor body, permanent magnet are arranged on respectively on the wall supporting of side, each hydraulic support both sides, the permanent magnet being arranged on next hydraulic support is changed into continually varying analog quantity relative to the position of self by the sensor body being arranged on each hydraulic support, realizes the measurement of relative position;
Obtain the relative position between each hydraulic support and drag conveyor;
To specify hydraulic support for benchmark, carry out the hydraulic support in straightening specified scope according to the relative position between described every two hydraulic supports, until the reading of described first stroke sensor is all zero;
With the relative position of described appointment hydraulic support and drag conveyor for reference, carry out the drag conveyor in straightening specified scope according to the relative position between described each hydraulic support and drag conveyor.
2. fully-mechanized mining working surface hydraulic support according to claim 1 and drag conveyor automatic alignment method, is characterized in that, the process of the relative position between each hydraulic support of described acquisition and drag conveyor comprises:
In the passing oil cylinder of each hydraulic support, the second stroke sensor is installed, obtains the relative position between each hydraulic support and drag conveyor according to described second stroke sensor.
3. fully-mechanized mining working surface hydraulic support according to claim 2 and drag conveyor automatic alignment method, it is characterized in that, when all first stroke sensor readings are all zero, and the reading of all second stroke sensors whole equal time, the straightening terminating the relative position of hydraulic support and drag conveyor operates.
4. fully-mechanized mining working surface hydraulic support and a drag conveyor automatic alignment system, is characterized in that, comprising:
Primary importance acquisition module, in the process that advances continuously at fully-mechanized mining working, obtains the relative position between every two hydraulic supports by the first stroke sensor be arranged on each hydraulic support; Wherein, described first stroke sensor comprises: sensor body, permanent magnet; Described sensor body and permanent magnet are arranged on the wall supporting of side, hydraulic support both sides respectively; When multiple hydraulic support accommodated side-by-side, the permanent magnet being arranged on next hydraulic support is changed into continually varying analog quantity relative to the position of self by the sensor body being arranged on each hydraulic support, realizes the measurement of relative position;
Second place acquisition module, for obtaining the relative position between each hydraulic support and drag conveyor;
First straightening module, for specify hydraulic support for benchmark, carrys out the hydraulic support in straightening specified scope, until the reading of described first stroke sensor is all zero according to the relative position between described every two hydraulic supports;
Second straightening module, for the relative position of described appointment hydraulic support and drag conveyor for reference, carry out the drag conveyor in straightening specified scope according to the relative position between described each hydraulic support and drag conveyor.
5. fully-mechanized mining working surface hydraulic support according to claim 4 and drag conveyor automatic alignment system, it is characterized in that, described second place acquisition module obtains the relative position between each hydraulic support and drag conveyor by the second stroke sensor installed in the passing oil cylinder of each hydraulic support.
6. fully-mechanized mining working surface hydraulic support according to claim 5 and drag conveyor automatic alignment system, is characterized in that, also comprise:
Operation terminates module, for being all zero at all first stroke sensor readings, and the reading of all second stroke sensors whole equal time, the straightening terminating the relative position of hydraulic support and drag conveyor operates.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310058049.8A CN103114867B (en) | 2013-02-22 | 2013-02-22 | Automatic straightening method and system for hydraulic supports and scraper conveyors of fully-mechanized coal mining working faces |
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| CN201310058049.8A CN103114867B (en) | 2013-02-22 | 2013-02-22 | Automatic straightening method and system for hydraulic supports and scraper conveyors of fully-mechanized coal mining working faces |
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| CN103244163B (en) * | 2013-05-23 | 2015-07-29 | 北京天地玛珂电液控制***有限公司 | A kind of with array close to the working surface hydraulic support of sensing device and straightness accuracy control method thereof |
| CN103541754B (en) * | 2013-10-21 | 2017-05-17 | 北京天地玛珂电液控制***有限公司 | Coal mining face hydraulic support straightening system and straightening method |
| CN103912298B (en) * | 2014-03-19 | 2016-05-18 | 北京天地玛珂电液控制***有限公司 | A kind of method that uses encoder correction work face hydraulic support group linearity |
| CN104058215B (en) * | 2014-06-05 | 2015-12-09 | 中国矿业大学 | Based on the dynamic aligning method of slat conveyer of coalcutter absolute motion track |
| CN104100277B (en) * | 2014-08-01 | 2018-04-27 | 北京天地玛珂电液控制***有限公司 | A kind of pseudo- oblique automatic control system of fully-mechanized mining working |
| CN105000328B (en) * | 2015-07-01 | 2017-03-08 | 中国矿业大学 | Fully-mechanized mining working surface conveyer fuselage automatic alignment device and method |
| CN105065051B (en) * | 2015-07-23 | 2017-09-29 | 广州日滨科技发展有限公司 | Hydraulic support draws slip control method and system in groups |
| CN105298495B (en) * | 2015-11-06 | 2017-05-17 | 广州日滨科技发展有限公司 | Coal mining technology debugging method and device |
| CN106986142B (en) * | 2017-01-23 | 2018-10-19 | 中国矿业大学 | Based on pull pressure sensor fully mechanized coal face drag conveyor automatic alignment device and method |
| CN106837399A (en) * | 2017-02-09 | 2017-06-13 | 宁夏百辰工业产品设计有限公司 | A kind of hydraulic support lift work winding displacement deviation eliminating device |
| CN108518237B (en) * | 2018-03-13 | 2019-05-21 | 中国矿业大学 | A method of effectively elapsing stroke straightening drag conveyor according to hydraulic support |
| CN109736868B (en) * | 2018-12-11 | 2020-07-28 | 中国矿业大学 | Fully mechanized mining face hydraulic support push rod pose sensing device, fully mechanized mining face hydraulic support push rod mechanism and fully mechanized mining face hydraulic support push rod method |
| CN110057324B (en) * | 2019-06-08 | 2020-09-04 | 中煤科工开采研究院有限公司 | Method for monitoring straightness of coal face hydraulic support and scraper conveyor |
| CN111674838B (en) | 2020-05-20 | 2021-04-02 | 山东科技大学 | Automatic straightening device and method for scraper conveyor body based on spatial position information capture |
| CN114348550A (en) * | 2022-01-10 | 2022-04-15 | 乌审旗蒙大矿业有限责任公司 | Automatic alignment control system and method for intelligent coal face conveyor |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Nanxiang three road, Science City high tech Industrial Development Zone, Guangzhou city of Guangdong Province, No. 2 510660 Co-patentee after: Shanxi Pingyang Guangri Electromechanical Co., Ltd. Patentee after: Hitachi building technologies (Guangzhou) Co. Ltd. Address before: Nanxiang three road 510660 Guangdong city of Guangzhou province Guangzhou Science City No. 2 Co-patentee before: Shanxi Pingyang Guangri Electromechanical Co., Ltd. Patentee before: Guangzhou Ropente Science and Technology Development Co., Ltd. |